Mobile modular industrial robot system with coupled motion and interaction control

Abstract

Mobile industrial robot system, comprehensive - a mobile driving platform (5), - at least one wheel unit (6), - a support structure (1) fixedly arranged on the driving platform (5), - a vertical support or guidance unit (2), - a first robotic arm unit (3), - a second robot arm unit (4), - and an electronic unit (7), characterized in that - the vertical support or guide unit (2) is rigidly connected to the driving platform (5), - the first and second robot arm units (3, 4) are attached to the vertical support or guide unit (2), - and both robot arm units (3, 4) are structurally connected to the mobile driving platform (5) via the support structure (1).

Description

[0001] The invention relates to a mobile industrial robot system.

[0002] Mobile autonomous robots for transport tasks and stationary robot arms for precise manipulation tasks at a fixed location are widely known from various industrial applications. Systems are also known that combine a mobile platform with a single manipulator to extend its working range.

[0003] However, such well-known systems have the disadvantage of generally exhibiting low flexibility. This severely limits their ability to perform complex tasks.

[0004] The object of the present invention is to overcome the aforementioned disadvantages and to provide a mobile industrial robot system with increased flexibility. In particular, the system should allow for the compact and structurally stable integration of flexible kinematics on a mobile platform, thereby creating the basis for effective coordinated manipulation.

[0005] This problem is solved by a mobile industrial robot system with the features of claim 1. Advantageous embodiments and further developments of the invention are specified in the dependent claims.

[0006] The robot system according to the invention comprises a mobile driving platform, at least one wheel unit, a support structure fixedly arranged on the driving platform, a vertical support and guidance unit, a first robot arm unit, a second robot arm unit, and an electronics unit. The vertical support and guidance unit is rigidly connected to the driving platform. The first and second robot arm units are attached to the vertical support and guidance unit.

[0007] The control unit is attached. Both robot arm units are structurally connected to the mobile driving platform via the support structure.

[0008] The mobile platform forms the system's movable base. The fixed support structure mounted on it is a load-bearing assembly, rigidly connected to the platform, whose primary purpose is to accommodate the robot arms. A key component of this support structure is the vertical support and guidance unit, often designed as a torso or column, which provides the mounting points for the arms at an operationally convenient height.

[0009] The term "rigidly connected" describes a fixed, inflexible connection that, under normal operating conditions, does not permit any relative movement between the vertical unit and the mobile platform. The statement that both robot arm units are structurally connected to the mobile platform via the support structure defines the core of the invention: It is not a matter of two separately attached arms, but rather a single, integrated mechanical unit in which both arms have a fixed and unchanging spatial relationship to each other and to the mobile platform via a common, rigid structure.

[0010] The decisive technical advantage of the invention lies in the creation of a highly integrated, mechanically rigid and compact overall arrangement.

[0011] The rigid connection of the vertical support structure to the platform and the attachment of both robot arms to this shared structure creates a single, immobile unit. This has the immediate advantage that the relative position of the bases of both robot arms is precisely defined, known, and, most importantly, unchanging. This precise and stable kinematic foundation is the essential prerequisite for enabling reliable and precise coordinated manipulation, as uncertainties caused by separate, minimally moving mounting points are eliminated.

[0012] This design also results in an extremely compact integration of the two arms on the mobile platform. Instead of requiring two separate structures, both arms can be attached to the central support structure in a space-saving manner, minimizing the robot's overall footprint and improving its maneuverability in confined industrial environments. The structural unit of platform and support structure ensures high robustness and efficient force transmission to the base, thus increasing the overall system stability.

[0013] In an advantageous further development, the robot arm units are attached to a common vertical support or guidance unit.

[0014] According to the further training described above, both robot arms are mounted on one and the same continuous component, in contrast to an arrangement with separate mounting structures.

[0015] This specific design offers crucial advantages. It creates a single, unchanging reference frame for the bases of both arms. Because they are attached to the same component, their relative position is determined by the manufacturing precision of this single component, rather than by the assembly tolerances of multiple parts. This drastically simplifies the calibration of the dual-arm system and ensures a consistently high-precision relationship, which is essential for precise, coordinated movements. Furthermore, mounting both arms on a single, central column is the most space-saving design. It minimizes the required footprint on the mobile platform and results in a slim overall system that is highly maneuverable even in confined workspaces.This central arrangement also naturally creates a large, overlapping work area directly in front of the robot system, which is the ideal prerequisite for cooperative tasks such as transferring an object from one arm to another or holding a workpiece with both hands.

[0016] In an advantageous advanced training, the robot arm units are trained for the coordinated manipulation of a common object.

[0017] According to the above training, the robot system, in particular its electronics unit and software, has the necessary control engineering capabilities to plan and execute the movements of both arms synchronously and in a coordinated manner.

[0018] It is therefore not just a physical possibility, but an implemented functional capability of the system.

[0019] The technical advantage of this design is fundamental, as it qualitatively expands the robot system's range of tasks and gives it human-like, ambidextrous capabilities. Firstly, this enables the handling of objects that are too large, too heavy, or too unwieldy for a single arm. The load can be distributed across both arms, and the object stabilized at two points, preventing tipping or bending. Secondly, complex assembly processes can be carried out flexibly and without external fixtures, as one arm holds and positions the workpiece stably while the second arm performs a process-leading task, such as joining another part. Thirdly, efficiency is increased through the skillful reorientation of objects in space, since the object can be transferred from one arm to the other or turned together without having to put it down.Overall, this capability transforms the robot system from a mere positioning device into a versatile process tool that enables a significantly higher degree of automation.

[0020] In an advantageous advanced training, each robot arm unit has at least six degrees of freedom.

[0021] In a further advantageous embodiment, each robot arm unit has at least six degrees of freedom.

[0022] One degree of freedom corresponds to an independent axis of movement of the robot. A design with at least six degrees of freedom is a practical technical specification that ensures each robot arm unit has the capability for complete spatial movement. Specifically, this means that the arm has three degrees of freedom for the free positioning of its end effector in space (along the X, Y, and Z axes) and three further degrees of freedom for the free orientation of the tool or gripper (rotation around these axes).

[0023] The technical advantage of this design lies in guaranteeing unrestricted, universal mobility. This ensures that the robot system is not limited by its own kinematics when performing complex industrial tasks. Many assembly and handling processes require not only placing a workpiece or tool at a specific point, but also positioning it in a very specific orientation – for example, when joining components at a certain angle or inserting a connector. Systems with fewer than six degrees of freedom inevitably reach their limits in such tasks. Equipping the robot system with at least six degrees of freedom therefore makes it highly flexible, versatile, and future-proof for a wide range of demanding industrial applications.

[0024] In an advantageous further development, the vertical support or guide unit is designed to be height-adjustable.

[0025] Preferably, the support or guidance unit is not designed as a rigid column of fixed length, but rather incorporates an integrated mechanism, such as an electric lifting drive. This allows the vertical position of the two robot arms to be actively and controllably changed.

[0026] The technical advantage of this design lies in a significant increase in the flexibility and usable working volume of the entire system. By dynamically adjusting the working height of its arms, the robot can perform tasks in locations with widely varying height requirements without having to move the platform itself. For example, it can pick up objects from a pallet near the floor and then place them in a high shelf. This adaptability makes the robot system universally applicable to various workstations, machines, or racking systems, significantly increasing its economic efficiency and level of automation. Additionally, the height adjustment can also be used to navigate around obstacles by lowering the robot's torso to pass under a protrusion, or to optimize the manipulation posture for particularly force- or precision-intensive tasks.

[0027] The features and advantages of the invention are explained below with reference to a figure and an exemplary embodiment.

[0028] It shows Fig. 1 a mobile industrial robot system.

[0029] For easier comprehension, please refer to the following list of reference symbols: 1 Support structure 2 Vertical support or guide unit 3 First robot arm unit 4 Second robot arm unit 5 Mobile Driving Platform 6 wheel unit 7 Electronic unit

[0030] The system is based on a mobile platform 5, which ensures the mobility of the entire system by means of at least one wheel unit 6. A support structure 1 is fixedly arranged on the platform 5. An essential component of this support structure 1 is the vertical support and guidance unit 2, which is designed here as a central torso. According to the invention, this vertical unit 2 is rigidly connected to the platform 5 and forms an immobile, rigid unit with it.

[0031] The first robot arm unit 3 and the second robot arm unit 4 are attached to this common vertical support and guidance unit 2. Through this arrangement, both robot arm units 3 and 4 are structurally connected to the mobile platform 5 via the support structure 1. Each robot arm unit 3 or 4 is designed as a multi-joint unit with at least six degrees of freedom to ensure high mobility for complex tasks. The system is designed so that both arms 3 and 4 can be used for the coordinated manipulation of a common object.

[0032] In the advantageous embodiment shown, the vertical support or guide unit 2 is also designed to be height-adjustable in order to flexibly adapt the working range of the arms to different task heights.

[0033] The control of the entire system, including the coordinated movements of arms 3 and 4 and the driving platform 5, is carried out by the electronics unit 7, which is shown schematically and integrated into the system.

Claims

[1] Mobile industrial robot system, comprising - a mobile driving platform (5), - at least one wheel unit (6), - a support structure (1) fixedly arranged on the driving platform (5), - a vertical support or guidance unit (2), - a first robotic arm unit (3), - a second robot arm unit (4), - and an electronic unit (7), characterized by , that - the vertical support or guide unit (2) is rigidly connected to the driving platform (5), - the first and second robot arm units (3, 4) are attached to the vertical support or guide unit (2), - and both robot arm units (3, 4) are structurally connected to the mobile driving platform (5) via the support structure (1). [2] Robot system according to claim 1, wherein the robot arm units (3, 4) are attached to a common vertical support or guide unit (2). [3] Robot system according to claim 1 or 2, wherein the robot arm units (3, 4) are configured for coordinated manipulation of a common object [4] Robot system according to any of the preceding claims, wherein each robot arm unit has at least six degrees of freedom. [5] Robot system according to one of the preceding claims, wherein the vertical support or guide unit (2) is designed to be height-adjustable.

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